broadphase_continuous_collision_manager.h

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#ifndef COAL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
#define COAL_BROADPHASE_BROADPHASECONTINUOUSCOLLISIONMANAGER_H
 
#include "coal/broadphase/broadphase_collision_manager.h"
#include "coal/collision_object.h"
#include "coal/narrowphase/continuous_collision_object.h"
 
namespace coal {
 
template <typename S>
using ContinuousCollisionCallBack = bool (*)(ContinuousCollisionObject* o1,
                                             ContinuousCollisionObject* o2,
                                             void* cdata);
 
template <typename S>
using ContinuousDistanceCallBack = bool (*)(ContinuousCollisionObject* o1,
                                            ContinuousCollisionObject* o2,
                                            S& dist);
 
template <typename S>
class COAL_DLLAPI BroadPhaseContinuousCollisionManager {
 public:
  BroadPhaseContinuousCollisionManager();
 
  virtual ~BroadPhaseContinuousCollisionManager();
 
  virtual void registerObjects(
      const std::vector<ContinuousCollisionObject*>& other_objs);
 
  virtual void registerObject(ContinuousCollisionObject* obj) = 0;
 
  virtual void unregisterObject(ContinuousCollisionObject* obj) = 0;
 
  virtual void setup() = 0;
 
  virtual void update() = 0;
 
  virtual void update(ContinuousCollisionObject* updated_obj);
 
  virtual void update(
      const std::vector<ContinuousCollisionObject*>& updated_objs);
 
  virtual void clear() = 0;
 
  virtual void getObjects(
      std::vector<ContinuousCollisionObject*>& objs) const = 0;
 
  virtual void collide(ContinuousCollisionObject* obj,
                       CollisionCallBackBase* callback) const = 0;
 
  virtual void distance(ContinuousCollisionObject* obj,
                        DistanceCallBackBase* callback) const = 0;
 
  virtual void collide(CollisionCallBackBase* callback) const = 0;
 
  virtual void distance(DistanceCallBackBase* callback) const = 0;
 
  virtual void collide(BroadPhaseContinuousCollisionManager* other_manager,
                       CollisionCallBackBase* callback) const = 0;
 
  virtual void distance(BroadPhaseContinuousCollisionManager* other_manager,
                        DistanceCallBackBase* callback) const = 0;
 
  virtual bool empty() const = 0;
 
  virtual size_t size() const = 0;
};
 
using BroadPhaseContinuousCollisionManagerf =
    BroadPhaseContinuousCollisionManager<float>;
using BroadPhaseContinuousCollisionManagerd =
    BroadPhaseContinuousCollisionManager<Scalar>;
 
}  // namespace coal
 
#include "coal/broadphase/broadphase_continuous_collision_manager-inl.h"
 
#endif